#ifndef _PID_H
#define _PID_H
#include "motor.h"
#include "my_struct.h"


#define ESC_output_PWM_LIMT			 	950
#define MAX_SPEED_MOTOR			        1.6f

extern float KP; 
extern float KI; 
extern float KD;
extern int pid_mode ;	

short Line_PID_Control(_Moto_Str* MotoStr);
float Tracing_PID_Control(tracing_Str* tracing);

		 				    
#endif


